CN102814818A

CN102814818A - Multi-finger anthropomorphic hand for robot

Info

Publication number: CN102814818A
Application number: CN2011101547411A
Authority: CN
Inventors: 蒋志宏; 魏博; 李洪杰; 黄强
Original assignee: Beijing Institute of Technology BIT
Current assignee: Beijing Institute of Technology BIT
Priority date: 2011-06-10
Filing date: 2011-06-10
Publication date: 2012-12-12
Anticipated expiration: 2031-06-10
Also published as: CN102814818B

Abstract

The invention discloses a multi-fingered humanoid hand for a robot, which includes a wrist, a palm, and a plurality of fingers connected to the palm, each finger has a plurality of joints, and also includes a plurality of springs, which are respectively arranged on the plurality of fingers Each joint of the , provides the moment that holds the fingers in extension. The multi-fingered anthropomorphic hand uses springs with different elastic coefficients on the same finger to make the joints of the fingers bend at different angles when grasping, so that it is more similar to a human hand; It has a certain degree of curvature and flexibility when grasping, which can increase the stability of grasping.

Description

A kind of robot uses to refer to anthropomorphic hand more

Technical field

The present invention relates to a kind of robot with referring to anthropomorphic hand more, and this hand rubber-like palm is applicable to that many fingers of anthropomorphic robot are held the effect that reaches anthropomorphic hand when getting operation in hand.

Background technology

Along with industrialized development, the Human's production activity is deep into some special dimensions gradually, such as under water, equipment is carried out inspection and maintenance under the environment such as underground, nuclear radiation, space station; To the accurate operation of some large-sized objects, such as the assembling of automobile; Minimally invasive surgery in the medical treatment or the like.These work or have danger, or be difficult to accomplish, be starved of robot and replace the people to accomplish these work.

The terminal device of the need of work robot that these are complicated has the ability of accomplishing accurate operation, can adapt to the extracting to the object of complex geometry apace through finger motion simultaneously.And the robot great majority in the current practical application use simple end effector clamping workpiece to finish the work, and have shortcomings such as the flexibility of lacking, method of clamping is limited, efficient is not high, energy consumption is big.Multi-finger clever hand helps to address the above problem, and it makes robot more flexible, and is also more general.Multi-finger clever hand can be realized multiple different clamping owing to have adaptivity, need not to change end effector.

From the progress of robot hand, it is maximum that multi-finger clever hand remains research.Complete drive multi-finger clever hand based on the kind of drive of tendon and pulley (or flexible pipe) cause exerting oneself little, load capacity is poor, control is complicated, is restricting its application in robot.And under-actuated finger is realized the passive self adaptation of unpowered joint to crawled shape through under-actuated finger mechanism, mechanical position limitation and spring, and it is few to have a driving element, grasps characteristics such as in extensive range, that control is simple, it is big to exert oneself, load capacity is good.But; Flexible member in the lack of driven structure is given the accurate control of owing to drive hand again, and such as accurate track following, power control etc. has caused certain difficulty; Especially domestic some owe to drive in the hand; Add the restriction of its number of sensors, be difficult to realize complicated and operation accurately, limited its dexterity.In addition, be made up of steel plate because the palm of existing apery hand is many, elasticity is relatively poor, and when accomplishing grasping manipulation, the contact point of palm and crawled thing is few, contact area is little, grasps unstable.

Through evolving for a long time, human hand is very flexible, not only can make various gestures, but also can accomplish operations such as mentioning weight.Every hand all is configured to as propping up by 29 bones, and these bones are linked together by 123 ligaments, are drawn by 35 powerful muscle.Therefore, in the staff grasping objects, when making various posture, move very soft, and reliable.When the staff grasping objects, not only each joint of finger can both contact with object, and palm also has very big area can touch object.Like this, grasp more stablely, object is difficult for landing.But the existing robots hand when making gesture, moves very stiff, inharmonious; Palm adopts rigid material to process, and the contact point of palm and object is less during grasping objects, therefore and the friction between the object little, easy landing.

Thus, just need make robot multi-finger hand use less driving element to obtain to accomplish the accurate control of hand under the prerequisite of sufficient force, and strengthen to refer to hold in hand the stability of getting more.

Summary of the invention

Because the above-mentioned defective of prior art, the embodiment of the invention provides a kind of palm to have elasticity, the more natural robot multi-finger hand of finger bend, to solve prior art problems.Should refer to that hand can have stronger carrying load ability, and can compare accurate control under the prerequisite of using less driving element more.Dextrous Hand is when accomplishing the extracting task, and the elasticity palm can be crooked, increases the contact point of the power of hand and object, increases contact area, makes extracting more stable.When carrying out tasks such as the turn of the screw when many fingers hand, can the fine kinematic accuracy that must control hand; When many fingers were held object, it was firm to grasp, and did not produce slip.

A kind of robot comprises wrist, palm, and is connected to a plurality of fingers on the palm that with referring to anthropomorphic hand each finger has a plurality of joints, it is characterized in that, also comprises more

A plurality of springs, each joint that it is arranged at said a plurality of fingers respectively provides the moment that finger is remained on extended configuration;

Drive unit; It places said anthropomorphic hand inner, and each that can be respectively said a plurality of fingers provides driving force, and said driving force makes the joint of finger overcome the moment loading of said spring; Axle around each joint rotates respectively, thereby changes the state of holding with a firm grip into;

Wherein, in each of said a plurality of fingers, according to the direction of holding finger tip from the palm, the coefficient of elasticity of the spring in each joint increases gradually, thereby makes finger can crookedly accomplish grasping movement.

Preferably, comprise forefinger in said a plurality of fingers, said forefinger has nearly palm end joint, middle finger joint and nearly finger tip joint, and the elastic coefficient in wherein near palm end joint is minimum, and the elastic coefficient in nearly finger tip joint is maximum.

Preferably, comprise thumb in said a plurality of fingers, said thumb has nearly palm end joint and nearly finger tip joint, and the coefficient of elasticity of the nearly palm end joint spring of wherein said thumb is less, and the coefficient of elasticity of the nearly finger tip joint spring of said thumb is bigger.

Preferably, said palm comprises the spring that a plurality of coefficient of elasticity are very big, so that when carrying out grasping movement, said palm is crooked slightly, and the grasping movement of its degree of crook and finger adapts.

Preferably, said a plurality of spring is extension spring, torsionspring or flexural spring.

The invention has the beneficial effects as follows, guaranteeing that finger bend and staff are similar, make apery refer to that the palm of hand has elasticity, grasp more stable under the bigger prerequisite of grasp force more; Through on same finger, adopting the spring of different coefficient of elasticity, make finger when grasping, bending is carried out with different angles in each joint, thereby similar with staff; And adopt spring is the palm of main body, can when grasping, have certain flexibility with flexible, can increase the stability of extracting.

Description of drawings

Fig. 1 is the anthropomorphic hand of many fingers according to one embodiment of the present invention.

Fig. 2 is the formation sketch map of the thumb of the anthropomorphic hand of many fingers in the above-mentioned embodiment.

Fig. 3 is the formation sketch map of the palm of the anthropomorphic hand of many fingers in the above-mentioned embodiment.

The implication of each mark is following among the figure:

The nearly finger tip of 1 forefinger joint 2 forefinger middle finger joints, 3 forefingers are closely slapped the end joint

The nearly finger tip of 4 thumbs joint 5 thumbs are closely slapped end joint 6 fingers

7 palms, 8 wrists

The specific embodiment

Fig. 1 shows the anthropomorphic hand of many fingers according to one embodiment of the present invention.This personification hand comprises palm 7, wrist 8, is connected with a plurality of fingers 6 on the palm 7, and each finger all has a plurality of joints.Each joint of finger all is provided with spring, in order to the moment that finger is remained on extended configuration to be provided.Refer to that the hand set inside has the drive unit of each finger more, be used to drive the action of each finger.When drive unit drove, driving force made the joint of finger overcome the moment loading of spring, and the axle around each joint rotates respectively, thereby changes the state of holding with a firm grip into.The coefficient of elasticity of the spring in each joint through adjusting each finger can make finger bend accomplish predetermined grasping movement.

For example, forefinger has nearly palm end joint, middle finger joint and nearly finger tip joint.Wherein, forefinger is closely slapped the elastic coefficient minimum (k3) in end joint 3, and the elastic coefficient of middle finger joint 2 is big (k2), the elastic coefficient in nearly finger tip joint 1 maximum (k1).The coefficient of elasticity of three springs is the relation of arithmetic progression: k1=k2+k0=k2+2*k0 (k0 is a constant).

Because the driving force in each joint of same finger is identical, therefore when driving, the rotational angle in the nearly finger tip of forefinger joint 1 is minimum, and middle finger joint 2 rotational angles are less, and the rotational angle in nearly palm end joint 3 is maximum.Because the elastic coefficient of three dactylus is arithmetic progression, so the rotational angle size in three joints of same finger also is arithmetic progression: θ ₃=θ ₂+ θ ₀=θ ₁+ 2 θ ₀(θ ₀Be constant).

Except that thumb, other three fingers are all similar with the forefinger situation.

Fig. 2 shows the formation of the thumb of the anthropomorphic hand of many fingers in the above-mentioned embodiment.Its middle finger has nearly palm end joint, and nearly finger tip joint.The coefficient of elasticity less (k3) of the nearly palm end joint spring of thumb, the coefficient of elasticity of nearly finger tip joint spring is big (k2).Therefore when driving, it is bigger that thumb is closely slapped end joint 5 rotational angles, and nearly finger tip joint 4 rotational angles are less.Its spring constant and rotational angle relation are similar with Fig. 2's

Fig. 3 shows the formation of the palm of the anthropomorphic hand of many fingers in the above-mentioned embodiment.Palm 7 mainly is made up of the very big spring of a plurality of coefficient of elasticity.So that when palm carried out the envelope extracting, spring carried out slight bending, the grasping movement of its degree of crook and finger adapts; Thereby can increase the number of the contact point of palm and object; Increase contact area, it is more stable that envelope is grasped, and reaches design effect.

In addition, except the embodiment of the use extension spring shown in above each figure, can also use torsionspring or flexural spring for each joint provides moment, the embodiment that obtains substituting.

The above is merely several kinds of specific embodiments of the present invention, and above embodiment only is used for technical scheme of the present invention and inventive concept are done explanation and unrestricted claim scope of the present invention.All technical staff in the art combine prior art on the inventive concept basis of this patent, through the available other technologies scheme of logic analysis, reasoning or limited experiment, also should be considered to drop within the claim protection domain of the present invention.

Claims

1. A kind of multi-finger anthropomorphic hand for robot, comprises wrist, palm, and a plurality of fingers connected to the palm, each finger has multiple joints, is characterized in that, also includes

A plurality of springs, which are respectively arranged on each joint of the plurality of fingers, provide moment to keep the fingers in an extended state;

The driving device, which is placed inside the anthropomorphic hand, can provide a driving force for each of the plurality of fingers, and the driving force makes the joints of the fingers overcome the torque action of the springs, respectively around the axis of each joint Rotate, thereby transforming into a clenched state;

Wherein, in each of the plurality of fingers, according to the direction from the palm end to the finger end, the elastic coefficients of the springs of each joint gradually increase (increasing in an arithmetic sequence relationship), so that the fingers can be bent to complete grasping action.

2. multi-finger humanoid hand according to claim 1, it is characterized in that, comprise index finger in described a plurality of fingers, described index finger has near palm end joint, middle phalanx and near finger end joint, wherein near palm end joint The elastic coefficient of the spring is the smallest, and the elastic coefficient of the proximal fingertip joint is the largest.

3. The multi-fingered anthropomorphic hand according to claim 1, wherein the plurality of fingers includes a thumb, and the thumb has a proximal palm joint and a proximal finger joint, wherein the proximal palm joint of the thumb is The elastic coefficient of the spring is small, and the elastic coefficient of the proximal joint of the thumb is relatively large; the spring coefficients of the proximal palm joint, middle phalanx, and proximal joint are in an increasing arithmetic sequence.

4. The multi-fingered anthropomorphic hand according to any one of claims 1-3, wherein the palm includes a plurality of springs with a large elastic coefficient, so that when performing a grasping action, the palm bends slightly, Its curvature adapts to the grasping action of the fingers.

5. The multi-fingered humanoid hand according to any one of claims 1-3, wherein the plurality of springs are extension springs, torsion springs or bending springs.